A New 3D Sensor System for Mobile Robots Based on Moire and Stereo Vision Technique

摘要

Intelligent autonomous mobile robots must be able to sense and recognize 3D environment for navigation and task execution, where they live or work. To achieve this, a variety of techniques have been developed for the determination of the 3D scene geometric information such as stereo vision, laser structured light, laser range finder and so on. But these methods have many limitations such as susceptibility to noise, low speed in 3D scene etc. To overcome these limitations we introduce a new sensing algorithm, which is based on the moire technique and stereo vision. To verify the efficiency and accuracy of our algorithm, a series of experimental tests is performed